JP2017216022A - Traveling body and traveling body apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vacuum cleaner main body capable of solving problems caused by degradation of a state of communication between an access point and a wireless LAN device in a remote control.SOLUTION: Control means has an operation mode for driving drive wheels so that a main body case 20 travels in response to a travel command signal from an external device when receiving a remote control command signal by a wireless LAN device from the external device via an access point 14. The control means has an automatic mode for driving the drive wheels so as to cause the main body case 20 to automatically travel when a field intensity of communication between the access point 14 and the wireless LAN device becomes a specific value or less. The control means includes a control to cause the main body case 20 to execute a location changing movement to travel to a preset specific location by driving the drive wheels when the field intensity of communication between the access point 14 and the wireless LAN device suddenly drops in the automatic mode.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a traveling body that drives drive wheels so that a main body case moves in response to a movement command from an external apparatus, and a traveling body apparatus including the traveling body.

  Conventionally, a so-called autonomous traveling type vacuum cleaner (cleaning robot) that cleans the floor surface while autonomously traveling on the floor surface as a surface to be cleaned while detecting an obstacle using a sensor or the like is known. ing. In recent years, using a vacuum cleaner like this, you can monitor the state of your home while you are out (for example, the window is not open or the light is still on), the state of your pet, etc. As can be confirmed, there is a system in which the electric vacuum cleaner is remotely operated by a portable terminal to travel inside the room, and the inside of the room can be imaged by a camera.

  Then, the user moves the vacuum cleaner to a desired location and takes an image using an imaging means such as an installed camera, for example, to capture the locking situation of a pet or a key, for example, and access installed indoors An image can be transmitted to a user at a remote place via a network such as the Internet by wireless communication with the point. It is also possible to give a cleaning instruction by an operation from a remote location.

  However, unlike a factory or office, a private house or room often does not have an accurate wireless radio wave receivable area, and a blind spot where radio waves do not reach is likely to occur. For this reason, during remote operation of the vacuum cleaner in real time, it is required to prevent the vacuum cleaner from entering an area where communication radio waves do not reach and becoming inoperable.

JP 2005-118354 A

  The problem to be solved by the present invention is to provide a traveling body and a traveling body apparatus provided with the traveling body that can solve the problems caused by the deterioration of the communication status between the transmission means and the communication means during remote operation.

  The traveling body of the embodiment has a main body case. In addition, the traveling body has drive wheels that allow the body case to travel. Furthermore, this traveling body has a communication unit capable of wireless communication with a transmission unit that wirelessly transmits a signal from an external device. And this traveling body has a control means which controls the drive of a driving wheel. When the control means receives a remote operation command signal from the external device via the transmission means by the communication means, an operation mode for driving the drive wheels so that the main body case moves in response to the movement command signal from the external device Have Further, the control means has an automatic mode in which the drive wheels are driven so that the main body case is automatically moved when the electric field strength of communication between the transmission means and the communication means becomes equal to or less than a predetermined value. In this automatic mode, when the electric field strength of communication between the transmission means and the communication means is suddenly reduced in the operation mode, the driving wheel is driven to move the main body case to a predetermined position. Including control

It is a perspective view schematically showing the operation in the operation mode and the automatic mode of the traveling body of an embodiment, (a) shows an example of the operation, (b) shows another example of the operation . (a) is a block diagram showing the internal structure of the traveling body, and (b) is a block diagram showing the internal structure of the external device. It is a perspective view which shows the traveling body apparatus provided with the traveling body same as the above. It is a top view which shows a traveling body same as the above from the bottom. It is explanatory drawing which shows an external device same as the above. It is a flowchart which shows a part of control of a traveling body same as the above. It is a flowchart which shows control of the automatic mode of a traveling body same as the above.

  The configuration of an embodiment will be described below with reference to the drawings.

  In FIG. 1 to FIG. 5, reference numeral 10 denotes an electric vacuum cleaner as a traveling body device. The electric vacuum cleaner 10 includes an electric vacuum cleaner body 11 which is a traveling body as an autonomous traveling body, and an electric vacuum cleaner body 11. And a charging device (charging stand) 12 serving as a base for charging. The vacuum cleaner main body 11 communicates (transmits / receives) with a wireless communication such as Bluetooth (registered trademark) with an access point 14 serving as a transmission means disposed in the room R, for example. Wireless communication with the external device 16 via the (external) network 15.

  In the present embodiment, the vacuum cleaner body 11 is a so-called self-propelled robot cleaner that cleans the floor surface while autonomously running (self-propelled) on the floor surface as a surface to be cleaned. And this electric vacuum cleaner main body 11 has a hollow main body case 20 as a running / cleaning part, an electric blower 21 as an operation part (cleaning part) accommodated in the main body case 20, and an intake of the electric blower 21 Dust collecting unit 22 communicating with the side, for example, driving wheels 23 and 23 as a plurality of (a pair of) driving units for traveling, motors 24 and 24 as driving means for driving these driving wheels 23 and 23, Side brushes 26 and 26, which are auxiliary cleaning means as, for example, a plurality of (a pair of) swivel cleaning parts (cleaning parts) disposed so as to be turnable along the floor surface at the lower part of the body case 20 Side brush motors 27 and 27, which are turning drive means as an operation part (cleaning part) for turning these side brushes 26 and 26, and a rotary cleaning body (cleaning part) arranged rotatably at the lower part of the body case 20 Rotating brush 28 that is a cleaning means, and rotating this rotating brush 28 A brush motor 29 or the like, which is a rotation driving means, is provided as an operation part (cleaning part) to be driven to roll. The vacuum cleaner main body 11 includes, as an input / output / control unit, a sensor unit 31 as an operation unit having various sensors, a light receiving unit 32 as a traveling body side receiving unit as a receiving unit, and a light emission as a traveling unit side transmitting unit. Unit 33, touch panel 34 having functions of input operation means and display means, camera 35 as imaging means, wireless LAN device 36 as wireless communication means as communication means, and between wireless LAN device 36 and access point 14 Intensity detecting means 37 for detecting wireless electric field strength (radio wave intensity), control means 38 constituted by a circuit board and the like are provided. The vacuum cleaner main body 11 includes a secondary battery 39 in the main body case 20 for supplying power to each of the above parts. Hereinafter, the direction along the traveling direction of the vacuum cleaner main body 11 (main body case 20) will be referred to as the front-rear direction (arrow FR and RR directions shown in FIG. 3 and the like), The direction (both sides) will be described as the width direction.

  The main body case 20 is formed into a flat columnar shape (disk shape) by, for example, synthetic resin, etc., and is long in the width direction, that is, horizontally long at a position near the rear portion of the center portion in the width direction of the circular bottom surface. The suction port 41 is opened. Further, a camera 35 is disposed in the main body case 20.

  The suction port 41 is in communication with the suction side of the electric blower 21 via the dust collecting unit 22. In addition, the rotary brush 28 is rotatably disposed in the suction port 41.

  The electric blower 21 generates negative pressure by driving and sucks dust from the suction port 41 to the dust collecting part 22.For example, the suction side is directed rearward and the axial direction is the front-rear direction (horizontal direction). Along the way, it is housed inside the main body case 20. The electric blower 21 may not be necessary in the case of, for example, a configuration in which dust is scraped up to the dust collection unit 22 by the rotating brush 28 or the like, and is not an essential configuration.

  The dust collecting unit 22 collects dust sucked from the suction port 41 by driving the electric blower 21, and is located, for example, at the rear part of the main body case 20, and can be attached to and detached from the main body case 20. ing.

  Each driving wheel 23 is for traveling (autonomous traveling) the vacuum cleaner body 11 (main body case 20) in the forward and backward directions on the floor surface, that is, for traveling, not shown along the left-right width direction. It is formed in a disk shape having a rotation axis. Further, these drive wheels 23 are disposed in the width direction on both sides of the suction port 41 at positions near the center in the front-rear direction of the lower part of the main body case 20, and are symmetrical with respect to the width direction. It has become.

  Each motor 24 is arranged corresponding to each of the driving wheels 23, for example, and can drive each driving wheel 23 independently. These motors 24 may be directly connected to each drive wheel 23, or may be connected to each drive wheel 23 via a transmission means (not shown) such as a gear or a belt.

  The swivel wheel 25 is a driven wheel that is positioned at the front and substantially at the center in the width direction of the main body case 20, and is capable of swiveling along the floor surface.

  Each side brush 26 has brush hairs 43 as a plurality of (for example, three) cleaning bodies that project radially and come into contact with the floor surface. The side brushes 26 and 26 are disposed at positions on both sides of the main body case 20 in front of the drive wheels 23 and 23 and behind the swivel wheel 25.

  Each side brush motor 27 moves each side brush 26 to the center side in the width direction of the body case 20, in other words, the right side brush 26 to the left side, and the left side brush 26 to the right side, that is, each side. The brushes 26 can be rotated so as to scrape dust to the suction port 41 side.

  The side brush 26 and the side brush motor 27 are not indispensable as long as they can be sufficiently cleaned by the electric blower 21 or the rotating brush 28.

  The rotary brush 28 is formed in a long shape, and both end portions are pivotally supported on both side portions in the width direction of the suction port 41 so as to be rotatable. The rotating brush 28 protrudes downward from the lower surface of the main body case 20 through the suction port 41, and the lower part contacts the floor surface while the vacuum cleaner main body 11 is placed on the floor surface, and dust is collected. It is configured to scrape.

  The brush motor 29 is housed inside the main body case 20, and is connected to the rotating brush 28 via a gear mechanism (not shown) as a mechanism portion.

  Note that the rotating brush 28 and the brush motor 29 are not essential components as long as they can be sufficiently cleaned by the electric blower 21 or the side brushes 26 and 26.

  The sensor unit 31 includes obstacle detection means (obstacle sensor (ranging sensor) such as a rotation speed sensor such as an optical encoder that measures the rotation speed of the motor 24, and an infrared sensor that detects obstacles such as walls and furniture. )), Step detection means (step sensor) such as an infrared sensor for detecting a step on the floor, and collision prevention detection means (collision prevention sensor) such as an infrared sensor for preventing collision with the charging device 12 etc. It has a function and is arranged in each part such as an upper part, an outer peripheral part (front part and rear part), and a lower part of the main body case 20.

  The light receiving unit 32 is for estimating the position of the charging device 12 by detecting infrared rays or the like emitted from the charging device 12.

  The light emitting unit 33 emits infrared rays or the like to the charging device 12, and is disposed, for example, on the upper portion of the main body case 20.

  The touch panel 34 allows the user to directly input various settings, and displays various information related to the electric vacuum cleaner main body 11. The touch panel 34 is disposed, for example, on the upper portion of the main body case 20.

  The camera 35 is a digital video camera or the like that captures an image (moving image and still image) in a predetermined direction of the main body case 20, in this embodiment, from the front to the upper front, for example, the left-right direction of the front portion of the main body case 20 The outer peripheral portion or the upper portion of the main body case 20, that is, the front portion of the main body case 20 is disposed at the central portion. The camera 35 can convert the captured image into data and output it to the control means 38.

  The wireless LAN device 36 is used for wireless communication with the external device 16 via the access point 14 and the network 15. Therefore, various information is received from the network 15 via the access point 14 via the wireless LAN device 36, various information is input from the external device 16 via the access point 14, and the external device 16 is input. It is possible to transmit various types of information via the access point 14. That is, the wireless LAN device 36 has a function of a communication unit that receives an external signal transmitted from the access point 14 via the network 15 from the external device 16, and a vacuum cleaner to the external device 16 via the access point 14. It has a function of information notifying means for notifying various information of the main body 11.

  The intensity detection means 37 can detect the electric field intensity between the wireless LAN device 36 and the access point 14 and output the result to the control means 38.

  The control means 38 includes various memory areas such as a CPU that is a main body of the control means, a ROM that is a storage unit that stores fixed data such as a program read by the CPU, and a work area that is a work area for data processing by the program. A RAM that is an area storage unit that is dynamically formed, a timer that measures calendar information such as the current date and time, and the like are provided. The control means 38 includes the electric blower 21, each motor 24, each side brush motor 27, brush motor 29, sensor unit 31, light receiving unit 32, light emitting unit 33, touch panel 34, camera 35, wireless LAN device 36, and the like. Based on the detection result of the sensor unit 31 electrically connected, a cleaning mode for controlling driving of the electric blower 21, each motor 24, each side brush motor 27, the brush motor 29, etc. There are a charging mode for charging the secondary battery 39, an imaging mode for imaging by the camera 35, and a standby mode for waiting for operation. This imaging mode includes an operation mode in which the vacuum cleaner main body 11 (main body case 20) is moved manually according to a signal from the external device 16, and the vacuum cleaner main body 11 (main body case 20) autonomously travels. Auto mode is set.

  The secondary battery 39 supplies power to the electric blower 21, each motor 24, each side brush motor 27, brush motor 29, sensor unit 31, light receiving unit 32, light emitting unit 33, camera 35, wireless LAN device 36, control means 38, etc. To do. The secondary battery 39 is electrically connected to, for example, the charging terminals 45 exposed on both sides of the turning wheel 25 on the lower surface of the main body case 20, that is, the front part.

  On the other hand, the charging device 12 includes a charging device case 51, and charging device control means 52 including a charging circuit for charging the secondary battery 39 is disposed inside the charging device case 51. The charging device case 51 includes a charging terminal 53 electrically connected to the charging device control means 52, a power cord 54 connected to a commercial power source, and various kinds of information such as position information of the charging device 12 by infrared rays. A charging device light emitting unit 55 that outputs a signal, a charging device light receiving unit 56 that receives light emitted from the light emitting unit 33 of the vacuum cleaner main body 11, and the like are arranged.

  The charging circuit is a constant current circuit for charging the secondary battery 39 of the vacuum cleaner body 11 in which the charging terminal 45 is connected to the charging terminal 53.

  The charging device control means 52 generates, for example, an infrared signal emitted from the charging device light emitting unit 55, or processes the infrared signal from the light emitting unit 33 of the vacuum cleaner body 11 received by the charging device light receiving unit 56. It is. The charging device control means 52 has a charging mode for charging the secondary battery 39 via the charging circuit, and a standby mode for standby operation.

  The charging terminal 53 is exposed at a lower portion of the charging device case 51, and is connected mechanically and electrically to the charging terminal 45 of the vacuum cleaner body 11 that has moved (returned) to the charging device 12. .

  The power cord 54 is electrically connected to the charging circuit, the charging device light-emitting unit 55 and the charging device control means 52, and is connected to an outlet installed on the wall W or the like, so that the commercial power source is connected to the charging circuit. It is possible to supply power.

  The charging device light-emitting unit 55 emits infrared rays or the like to the electric vacuum cleaner main body 11. The charging device light emitting unit 55 may emit light at all times, or may emit light when light from the light emitting unit 33 of the electric vacuum cleaner main body 11 is received by the charging device light receiving unit 56, for example.

  The charging device light receiving unit 56 is for grasping the positional relationship between the vacuum cleaner main body 11 and the charging device 12 by detecting infrared light emitted from the light emitting unit 33 of the vacuum cleaner main body 11, for example, Arranged at the top of the charging device case 51.

  The access point 14 serves as a relay point between the vacuum cleaner main body 11 and the external device 16 and the network 15 and is connected to the network 15 by, for example, a wired connection. The access point 14 includes a wireless LAN device or the like as a relay means (not shown), monitors the electric field strength of wireless communication with the wireless LAN device 36 of the vacuum cleaner body 11, and the electric field strength is less than a predetermined value. In this case, it has a function of notifying means for notifying the external device 16 via the network 15.

  The external device 16 is, for example, a portable terminal or a fixed terminal, and includes a device control unit 66, an input unit 67 for external input operation, a display unit 68 having a touch panel function, and a wireless LAN device as a terminal communication unit 69 and so on.

  The device control means 66 includes a CPU that is a main body of the external device control means, a ROM that is a storage unit that stores fixed data such as a program read by the CPU, and a work area that is a work area for data processing by the program. A RAM that is an area storage unit that dynamically forms a memory area, and a non-volatile storage unit that stores an OS, data, and programs of the external device 16, a program for remotely operating the vacuum cleaner main body 11, and the like Etc. Then, the device control means 66 reads out the data stored in the non-volatile storage unit by an instruction, stores the received data or the like in a predetermined area, or starts a program.

  The input unit 67 processes the input signal of the key signal and outputs a key code corresponding to the operated key to the device control means 66. The input unit 67 includes direction keys 67a, 67b, 67c, 67d, which are a plurality of operation input means such as four directions for remote operation of the vacuum cleaner body 11, and a command for taking a still image by the camera 35. An imaging key 67e, which is an imaging operation input means, is provided. Each of these keys 67a to 67e may be physically provided, for example, in the external device 16 and directly operated, or displayed on the display unit 68 when the remote operation program of the vacuum cleaner main body 11 is activated. It may be operated by the touch panel function of the unit 68. For example, the imaging key 67e may be substituted by the user touching the display unit 68 without providing it separately. Then, the user may operate the keys 67a to 67e while viewing the room image captured by the camera 35 in real time or every predetermined time through the display unit 68, or the layout of the room R in advance. Is input to the external device 16, a schematic image corresponding to this layout and the position of the vacuum cleaner main body 11 are displayed on the display unit 68 by the device control means 66, and the operation is performed according to this display. Also good.

  The display unit 68 can display information based on data or a program received in response to a command from the device control means 66 etc., for example, a still image or a moving image taken by the vacuum cleaner body 11 with the camera 35 It can be displayed.

  The wireless LAN device 69 is used for wireless communication with the external device 16 via the nearest access point 14 and the network 15. Therefore, various information from the network 15 is received via the access point 14 via the wireless LAN device 69, or to the vacuum cleaner main body 11 via the access point 14 via the direction key 67a of the input unit 67. It is possible to transmit various information such as a movement command signal by the operation of -67d, an imaging command signal by the operation of the imaging key 67e, and an imaging mode end command signal. In the following, in order to make the description clearer, communication between the wireless LAN device 36 of the vacuum cleaner body 11 and the wireless LAN device 69 of the external device 16, that is, via the access point 14, the network 15, and the access point 14 Communication between the vacuum cleaner body 11 (wireless LAN device 36) and the external device 16 (wireless LAN device 69) is simply abbreviated as communication between the wireless LAN devices 36 and 69 (between the wireless LAN devices 69 and 36). Sometimes.

  Next, the operation of the above embodiment will be described with reference to the flowcharts shown in FIGS.

  In general, the autonomously traveling electric vacuum cleaner main body 11 is roughly divided into a cleaning operation in which the electric vacuum cleaner main body 11 cleans and a charging operation in which the secondary battery 39 is charged by the charging device 12, but this embodiment Then, in addition to these operations, an imaging operation for imaging a subject (for example, a pet or an indoor state (locking state, lighting state)) is performed.

(Cleaning work)
The vacuum cleaner main body 11 is switched from the standby mode to the cleaning mode when a preset cleaning start time is reached or when a cleaning command signal is received from the external device 16 through communication between the wireless LAN devices 69 and 36. The control means 38 that has been driven drives the electric blower 21, the drive wheels 23, 23 (motors 24, 24), the side brushes 26, 26 (side brush motors 27, 27), the rotating brush 28 (brush motor 29), etc. For example, the vehicle is separated from the charging device 12, and cleaning is started while autonomously running on the floor surface by the drive wheels 23 and 23. The cleaning start position can be set at any place such as the travel start position of the electric vacuum cleaner main body 11 or the entrance / exit of the room R.

  During traveling, the control means 37 detects, for example, the distance from the wall surrounding the periphery of the cleaning area or an obstacle in the cleaning area, the step of the floor surface, etc. By monitoring the running state of the main body 11 (main body case 20) and driving the drive wheels 23 and 23 (motors 24 and 24) in response to detection from the sensor unit 31, obstacles and steps are avoided. While running the vacuum cleaner body 11 on the floor.

  The vacuum cleaner main body 11 collects dust to the suction port 41 by the side brushes 26 and 26 that are driven to rotate, and the suction generated by the negative pressure generated by the driving of the electric blower 21 via the dust collection unit 22 Dust on the floor surface is sucked together with air through the mouth 41. In addition, the rotary brush 28 that is driven to rotate scrapes off dust on the floor surface to the dust collecting unit 22.

  The dust sucked together with the air from the suction port 41 is separated and collected by the dust collecting unit 22, and the air from which the dust is separated is sucked into the electric blower 21, and after cooling the electric blower 21, it becomes exhaust air. The air is exhausted from an exhaust port (not shown) provided in the main body case 20 to the outside.

  Cleaning of the cleaning area has been completed, or the capacity of the secondary battery 39 has fallen to a predetermined amount and is insufficient to complete the cleaning (the voltage of the secondary battery 39 has dropped to near the discharge end voltage) ) And the like, the control means 38 transmits a signal from the light emitting unit 33 to end the cleaning mode and shift to the charging mode. The charging device 12 that has received this signal by the charging device light receiving unit 56, the charging device control means 52 is a feedback signal that guides the charging device light emitting unit 55 to return (move) the vacuum cleaner body 11 to the charging device 12. Send. Then, the vacuum cleaner main body 11 that has received the feedback signal by the light receiving unit 32 drives the drive wheels 23 and 23 (motors 24 and 24) by the control means 38 so as to approach the charging device 12 by a predetermined distance. To do. Thus, the vacuum cleaner main body 11 is gradually approached by repeating transmission and reception between the light receiving unit 32 and the light emitting unit 33 of the vacuum cleaner main body 11 and the charging device light emitting unit 55 and the charging device light receiving unit 56 of the charging device 12. The charging terminal 45 is connected (mechanically and electrically) to the charging terminal 53 while being moved (returned) to the charging device 12, and each part is stopped to complete the cleaning operation.

(Charging work)
After the electric vacuum cleaner main body 11 is connected to the charging device 12, a predetermined time, for example, a predetermined time after the electric vacuum cleaner main body 11 is connected to the charging device 12 when a preset charging start time is reached. When the time elapses, the control unit 38 and the charging device control unit 52 shift to the charging mode, drive the charging circuit, and start charging the secondary battery 39. When it is determined that the voltage of the secondary battery 39 has risen to a predetermined usable voltage, the control means 38 and the charging device control means 52 stop the charging by the charging circuit to finish the charging operation, and the control means 38 and the charging device The device control means 52 is in the standby mode.

(Imaging work)
The control means 38 determines whether or not the remote operation command signal transmitted from the external device 16 has been received by communication between the wireless LAN devices 69 and 36, for example, in real time or every predetermined time (step 1). For wireless communication between the external device 16 and the vacuum cleaner body 11, for example, by setting an ID and a password for each external device 16 and for each vacuum cleaner body 11, and requesting authentication at the time of connection, It is preferable not to receive illegal signals.

  When it is determined in step 1 that the remote operation command signal has been received, first, the control means 38 detects the remaining capacity of the secondary battery 39 regardless of the mode, and the remaining capacity of the secondary battery 39 is It is determined whether or not the predetermined capacity that can be captured by the camera 35 is exceeded (step 2). Here, the predetermined capacity is a capacity that allows the vacuum cleaner main body 11 to operate for a predetermined time (predetermined distance) while communicating with the external device 16 between the wireless LAN devices 36 and 69.

  When it is determined in step 2 that the remaining capacity of the secondary battery 39 is not a predetermined capacity, the control means 38 externally communicates from the vacuum cleaner main body 11 to the external device 16 through communication between the wireless LAN devices 36 and 69. A signal notifying that the operation is impossible is transmitted, and in the external device 16, the device control means 66 displays on the display unit 68 that the external operation is impossible by this received signal and notifies the user ( In step 3), the control means 38 ignores the remote operation command signal and returns to step 1.

  On the other hand, if it is determined in step 2 that the remaining capacity of the secondary battery 39 is greater than or equal to the predetermined capacity, the control means 38 determines the mode (step 4).

  If it is determined in step 4 that the charging mode or the standby mode is set, the control means 38 drives the drive wheels 23 and 23 (motors 24 and 24) to separate the electric vacuum cleaner main body 11 from the charging device 12, for example. (Step 5), and shift to the operation mode of the imaging mode (Step 6).

  On the other hand, when it is determined in step 4 that the cleaning mode is set, the control means 38 controls the electric blower 21, the side brushes 26 and 26 (side brush motors 27 and 27), and the rotating brush 28 (brush motor 29), for example. The drive is stopped and the cleaning is interrupted (step 7), and the process proceeds to step 6 to shift to the operation mode of the imaging mode.

  Then, in the imaging mode of step 6, the control means 38 receives the movement command signal from the external device 16, receives the imaging command signal from the external device 16, or receives the end command signal from the external device 16. Whether the remaining capacity of the secondary battery 39 is equal to or greater than a predetermined imageable capacity, and whether the electric field strength (radio wave strength) of wireless communication between the wireless LAN device 36 and the access point 14 is equal to or greater than a predetermined value. Whether or not is determined in real time or every predetermined time (steps 8 to 12). In the flowchart of FIG. 6, it is shown that the determinations are made in the order of step 8 to step 12, but the order of these determinations is arbitrary and can be determined at the same time.

  If it is determined in step 8 that the movement command signal from the external device 16 has not been received, the process proceeds to step 9, and if it is determined that the movement command signal from the external device 16 has been received, the control means 38 In response to this movement command signal, the driving wheels 23 and 23 (motors 24 and 24) are driven to run the electric vacuum cleaner main body 11 (main body case 20) (step 13), and the process proceeds to step 9. When there is an obstacle within a predetermined distance in the traveling direction of the vacuum cleaner main body 11, the control means 38 communicates with the external device 16 from the vacuum cleaner main body 11 through communication between the wireless LAN devices 36 and 69. A signal notifying that the vehicle cannot travel in the direction is transmitted, and the external device 16 processes the received signal by the device control means 66 to display on the display unit 68 that the vehicle cannot travel. May be notified.

  If it is determined in step 9 that the imaging command signal from the external device 16 has not been received, the process proceeds to step 10, and if it is determined that the imaging command signal from the external device 16 has been received, the control means The camera 38 captures a still image at the position by the camera 35, converts the captured image into data, transmits the captured image to the external device 16 through communication between the wireless LAN devices 36 and 69 (step 14), and proceeds to step 10. In the external device 16, the captured image data may be processed by the device control means 66 and stored as image data, or displayed on the display unit 68 as an image.

  Further, when it is determined in step 10 that the end command signal from the external device 16 has not been received, the process proceeds to step 11, and when it is determined that the end command signal from the external device 16 has been received, the control means 38 ends the operation mode of the imaging mode (step 15). Next, the control means 38 determines the mode immediately before shifting to the imaging mode (step 16). If it is determined in step 16 that the charging mode or the standby mode is set, the control means 38 returns the electric vacuum cleaner main body 11 to the charging device 12 in the same manner as in the cleaning operation, and shifts to the charging mode (step 17).

  On the other hand, when it is determined in step 16 that the cleaning mode is set (the cleaning mode is interrupted and the mode is changed to the imaging mode), the control means 38 compares the capacity of the secondary battery 39 with the remaining capacity required for cleaning. It is determined whether or not the capacity is sufficient (step 18). When it is determined that the capacity is sufficient, the control means 38 controls the electric blower 21, the side brushes 26 and 26 (side brush motors 27 and 27), and the rotating brush 28 (brush motor 29). Drive to return to cleaning (step 19), and if it is determined that the capacity is insufficient, proceed to step 17 and return the vacuum cleaner body 11 to the charging device 12 and shift to the charging mode as in the cleaning operation. To do. Regardless of the mode immediately before the transition to the imaging mode, the control may be performed such that the transition to the charging mode is always performed when the imaging mode ends. In this case, after the charging of the secondary battery 39 is finished, for example, the standby mode may be shifted as it is, or only when the mode immediately before the transition to the imaging mode is the cleaning mode after the charging. You may return to cleaning.

  If it is determined in step 11 that the capacity of the secondary battery 39 is greater than or equal to the imageable capacity, the process proceeds to step 12, and if it is determined that the capacity of the secondary battery 39 is not greater than or equal to the imageable capacity, control is performed. The means 38 transmits a signal indicating that the capacity of the secondary battery 39 is insufficient to the external device 16 by communication between the wireless LAN devices 36 and 69, and this signal is processed by the device control means 66 and displayed on the display unit 68. The information is displayed and notified to the user (step 20), and the process proceeds to step 17. The imageable capacity means that the vacuum cleaner main body 11 can continue to run while communicating between the wireless LAN devices 36 and 69, and images (movies) are continuously acquired via the camera 35. Use as much capacity as possible.

  If it is determined in step 12 that the electric field strength (radio wave intensity) of the wireless communication is greater than or equal to a predetermined value, the process returns to step 8; The means 38 switches to the automatic mode of the imaging mode (step 21). On the other hand, when the access point 14 detects that the electric field strength of the wireless communication with the wireless LAN device 36 of the vacuum cleaner main body 11 has dropped below a predetermined level, the control means 38 automatically activates the vacuum cleaner main body 11. It is determined that the automatic mode has been switched, and a signal to that effect is transmitted to the wireless LAN device 69 of the external device 16 via the network 15, and this signal is transmitted to the device control means 66 of the external device 16. Is processed and displayed on the display unit 68 to notify the user.

  In this way, when the control means 38 switches to the automatic mode, the access point 14 notifies the external device 16 so that the vacuum cleaner main body 11 that has entered the automatic mode automatically does not follow the user's movement command. The user can be prevented from misidentifying that the electric vacuum cleaner main body 11 (the electric vacuum cleaner 10) is out of order when he / she travels.

  In the automatic mode shown in step 21, the following communication return control is performed (FIG. 7).

  That is, the control means 38 first determines whether the electric field intensity detected by the intensity detection means 37 has been gradually reduced or suddenly reduced (step 31). This determination is based on whether or not the amount of change (inclination of change) of the electric field strength per predetermined time is greater than or equal to a predetermined value.

  If it is determined in step 31 that the electric field intensity detected by the intensity detecting means 37 has gradually decreased (the electric field intensity has gradually decreased below a predetermined value), the control means 38 has the drive wheels 23, 23 (motors 24, 24). ) To drive the vacuum cleaner main body 11 (main body case 20) to perform a predetermined return operation (step 32).

  The return operation of this step 32 means that the vacuum cleaner main body 11 has entered the blind spot A of the wireless communication from the access point 14 such as the shadow of the wall W (between the vacuum cleaner main body 11 and the access point 14). The electric vacuum cleaner main body 11 (main body case 20) is caused to travel to the outside of the blind spot A. In this returning operation, as shown in FIG. 1 (a), for example, the electric vacuum cleaner main body 11 (main body case 20) that has traveled in the operation mode may return from the advancing direction to the rear (a predetermined distance along the route RT). It may be possible to return), or as shown in FIG. 1B, it may be circulated along a circle with a predetermined radius (including turning).

  That is, during the operation mode, since the electric field strength of the wireless communication between the wireless LAN device 36 of the vacuum cleaner body 11 and the access point 14 is greater than or equal to a predetermined value, the vacuum cleaner body 11 ( It is assumed that there is a position where the electric field strength is strong enough to remotely operate the vacuum cleaner main body 11 (position where the electric field strength is equal to or higher than the predetermined position) at the position where the main body case 20) returns backward from the traveling direction. As shown in FIG. 1 (a), the means 38 returns the main body case 20 (the vacuum cleaner main body 11) backward from the traveling direction (or returns along the route RT that has moved in the operation mode) (first) return. When operated, the electric vacuum cleaner main body 11 can be moved with high probability to a position where the electric field strength is not less than a predetermined value.

  Similarly, since it is assumed that there is a position where the electric field intensity is greater than or equal to a predetermined value around the position where the operation mode is switched to the automatic mode, when the control means 38 is in the automatic mode, FIG. As shown in the figure, when the main body case 20 (the vacuum cleaner body 11) is made to circulate at a predetermined radius (second), the vacuum cleaner body 11 is moved with high probability to a position where the electric field strength is greater than or equal to a predetermined value. Can be made.

  As described above, when the electric field strength becomes lower than a predetermined value during the operation mode, the control unit 38 becomes an automatic mode in which a return operation is performed to return the electric field strength of communication between the access point 14 and the wireless LAN device 36 to a predetermined value or higher. , The communication is surely restored and the usability is improved.

  These return operations are performed when the electric field strength of the wireless communication between the access point 14 and the wireless LAN device 36 gradually decreases in the operation mode, as shown in Step 31 and Step 32. When the electric field strength of these wireless communications gradually decreases, it is assumed that the communication situation with respect to the access point 14 has deteriorated because the vacuum cleaner main body 11 has moved in the room, not a malfunction such as a failure. Therefore, there is a high possibility that the electric field strength of the wireless communication is restored by these restoration operations, and it is possible to quickly return to the operation mode in which the user can perform remote operation manually, thereby improving usability.

  Thereafter, the control means 38 determines whether or not the electric field intensity detected by the intensity detection means 37 has returned to a predetermined intensity or higher (step 33). If it is determined that the electric field strength has returned to a predetermined level or more, it is determined that the vacuum cleaner body 11 has come out of the blind spot A, and the control means 38 switches to the operation mode (step 34) and returns. To do. That is, the wireless communication between the wireless LAN device 36 and the access point 14 can be restored early.

  On the other hand, if it is determined in step 33 that the electric field strength has not returned to a predetermined level or higher, the control means 38 determines whether or not a predetermined time has elapsed (step 35).

  If it is determined in step 35 that the predetermined time has not elapsed, the process returns to step 32. On the other hand, if it is determined in step 35 that the predetermined time has elapsed, the driving wheels 23 and 23 (motors 24 and 24) are driven to further move the vacuum cleaner main body 11 (main body case 20) to a predetermined position. An additional movement operation is performed (step 36). Although this predetermined position can be set arbitrarily, it is set in advance to a position where it is assumed that the electric field strength will surely exceed a predetermined value unless there is a failure, for example, in the center of the room R or in the vicinity of the access point 14. It is preferable. Then, the control means 38 determines whether or not the electric field strength of the wireless communication detected by the intensity detection means 37 at this position has returned to a predetermined level or more (step 37), and if it is determined that the electric field strength has returned to a predetermined level or higher Return to step 34. That is, when the electric field strength of the wireless communication between the access point 14 and the wireless LAN device 36 does not return to a predetermined level or higher after the returning operation in step 32, the control means 38 controls the drive wheels 23, 23 (motor 24 , 24) to drive the main body case 20 (the vacuum cleaner body 11) further to a predetermined position set in advance, so that the electric field of the wireless communication device 11 can be more reliably It becomes possible to move to a position where the strength is equal to or higher than a predetermined level, and the wireless communication between the wireless LAN device 36 and the access point 14 can be restored more reliably. In addition, in this case, since the position of the vacuum cleaner body 11 is away from the position where the electric field strength of the wireless communication has decreased below a predetermined value, communication is performed by slightly running the vacuum cleaner body 11. This makes it difficult to create a complicated situation where the device is shut off again, improving usability.

  On the other hand, if it is determined in step 37 that the electric field strength has not returned to a predetermined level or higher, the control means 38 drives the drive wheels 23 and 23 (motors 24 and 24), for example, and returns to the charging device 12 ( Step 38), transition to the charging mode. Instead of this step 38, the electric vacuum cleaner main body 11 may be stopped at the position as it is, or may be moved to a position other than the charging device 12 and stopped to shift to the standby mode.

  On the other hand, when the control means 38 determines in step 31 that the electric field intensity detected by the intensity detection means 37 has suddenly decreased (abruptly decreases below a predetermined value), the drive wheels 23 and 23 (motors 24 and 24). To move the vacuum cleaner main body 11 (main body case 20) to a predetermined position (step 39). The predetermined position can be arbitrarily set. For example, the charging device 12 or a pointer such as a virtual guard (not shown) that restricts the movement range of the vacuum cleaner body 11 by infrared rays or the like is used. And when the moved position is the charging device 12, it shifts to the charging mode or standby mode for charging the secondary battery 39, and when it moves to another position, it stops as it is and shifts to the standby mode. . Thus, when the control means 38 causes the electric vacuum cleaner main body 11 to move the position, the electric vacuum cleaner main body 11 can be protected by preventing the electric vacuum cleaner main body 11 from malfunctioning.

  In particular, this position movement operation is performed when the electric field strength of wireless communication between the access point 14 and the wireless LAN device 36 suddenly decreases in the operation mode, as shown in step 31 and step 39. If the field strength of these wireless communications suddenly decreases, it is assumed that a malfunction such as a failure or a line failure of the network 15 has occurred, so the remote operation (operation mode) of the vacuum cleaner body 11 is immediately forced to be forced. The vacuum cleaner main body 11 can be moved to a predetermined position to prevent malfunction of the vacuum cleaner main body 11 and protect the vacuum cleaner main body 11 more reliably.

  According to the embodiment described above, when the control means 38 of the vacuum cleaner main body 11 receives the remote operation command signal from the external device 16 via the access point 14 by the wireless LAN device 36, from the external device 16 An operation mode for driving the drive wheels 23 and 23 (motors 24 and 24) so that the main body case 20 (the electric vacuum cleaner main body 11) moves in response to the movement command signal, the access point 14, the wireless LAN device 36, An automatic mode in which the drive wheels 23 and 23 (motors 24 and 24) are driven so as to automatically move the main body case 20 (the vacuum cleaner main body 11) when the electric field strength of the communication between the two becomes lower than a predetermined value. Therefore, if the communication status between the access point 14 and the wireless LAN device 36 deteriorates during remote operation, switching to the automatic mode will remove the remote operation disabled state early or perform remote operation. strength It is possible to reliably eliminate problems caused by deterioration of the communication status, such as protecting the electric vacuum cleaner main body 11 by terminating it systematically.

  Then, by moving the vacuum cleaner body 11 to a place desired by the user by remote control and performing an imaging process with the camera 35, it becomes possible to check the indoor situation even from the outside, and the user If the information to be confirmed is not in a predetermined position, for example, even a pet that is not always in a specific location can be imaged by the camera 35 using the electric vacuum cleaner main body 11, and these can be monitored easily and reliably.

  In the above-described embodiment, when a remote operation command signal is received during the charging operation of the secondary battery 39, the secondary battery 39 has a predetermined capacity (for example, a capacity capable of reciprocating to the subject, a full charge, etc. ) Until the battery is charged, and after charging, the mode may be shifted to the imaging mode (operation mode).

  Further, when it is determined in step 35 that the predetermined time has elapsed, the control means 38 returns the main body case 20 (the vacuum cleaner main body 11) to the charging device 12 or the like, similarly to step 38. Also good.

  Further, in step 39, as in steps 35 and 36, the control means 38 reliably ensures that the electric field strength is not less than a predetermined value unless there is a failure such as the center of the room R or the vicinity of the access point 14, for example. If the electric vacuum cleaner main body 11 is moved to a position where it is assumed that the electric field strength of the wireless communication has returned to a predetermined level or more, the process may return to step 34. In this case, similarly to steps 35 and 36, the wireless communication between the wireless LAN device 36 and the access point 14 can be restored more reliably.

  Further, although the electric vacuum cleaner main body 11 is provided with the function of a traveling body, the traveling body is not limited to the one that performs cleaning, and may be an object that is simply used for imaging using the camera 35.

  Since wireless communication using the wireless LAN device 36 consumes power, it is preferable to suppress communication by the wireless LAN device 36 in a state where the power of the secondary battery 39 is used, that is, during cleaning. Therefore, when an imaging instruction signal is received during the cleaning mode, the wireless LAN device 36 is used to notify the user that cleaning is currently being performed via the network 15, and the remote operation command signal is ignored. Control may be made so that the transition to the imaging mode is possible only in the charging mode or standby mode in which the vacuum cleaner body 11 is connected to the charging device 12.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

11 Vacuum cleaner body as a running body
14 Access point as notification means as transmission means
16 External device
20 Main unit case
23 Drive wheels
36 Wireless LAN device having communication function
38 Control means

Claims (2)

A body case,
A drive wheel that allows the main body case to travel,
A communication means capable of wireless communication with a transmission means for wirelessly transmitting a signal from an external device;
Control means for controlling the driving of the driving wheel,
When the control means receives a remote operation command signal from an external device via the transmission means by the communication means, the drive wheel moves the main body case in response to a movement command signal from the external device. And an automatic mode for driving the drive wheels so as to automatically move the main body case when the electric field strength of communication between the transmission means and the communication means becomes a predetermined value or less. And when the automatic mode is the operation mode, when the electric field strength of the communication between the transmission unit and the communication unit is suddenly reduced, the driving wheel is driven to set the main body case to a predetermined value. A traveling body characterized by including a control for moving a position to a position. A traveling body according to claim 1;
A traveling body apparatus comprising: an informing means for informing an external device when the traveling body control means is switched to the automatic mode.

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